cmake_minimum_required(VERSION 3.5)
project(dogcontrol)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(unitree_api REQUIRED)
find_package(unitree_go REQUIRED)
find_package(PkgConfig REQUIRED)
pkg_check_modules(JSONCPP jsoncpp)
find_package(sensor_msgs REQUIRED)

# Include directories
include_directories(include)
include_directories(include/common)

add_executable(sport_state_logger src/sport_state_logger.cpp)
ament_target_dependencies(sport_state_logger rclcpp unitree_go)
install(TARGETS sport_state_logger DESTINATION lib/${PROJECT_NAME})

add_executable(ctrl_bridge_node 
  src/ctrl_bridge_node.cpp
  src/common/ros2_sport_client.cpp
)
ament_target_dependencies(ctrl_bridge_node rclcpp unitree_api)
target_link_libraries(ctrl_bridge_node ${JSONCPP_LIBRARIES})
install(TARGETS ctrl_bridge_node DESTINATION lib/${PROJECT_NAME})

# 新增相机网络桥接节点
add_executable(camera_network_bridge src/camera_network_bridge.cpp)
ament_target_dependencies(camera_network_bridge rclcpp sensor_msgs)
install(TARGETS camera_network_bridge DESTINATION lib/${PROJECT_NAME})

# ROS2 UDP接收节点（C++）
add_executable(udp_receiver 
  src/udp_receiver.cpp
  src/common/ros2_sport_client.cpp
)
ament_target_dependencies(udp_receiver rclcpp unitree_api)
target_link_libraries(udp_receiver ${JSONCPP_LIBRARIES})
install(TARGETS udp_receiver DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files  
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
